CN112043586A - Moxibustion robot - Google Patents

Abstract

The invention discloses a moxibustion robot, comprising: the moxibustion device is used for carrying out moxibustion on acupuncture points needing moxibustion; the moxibustion device is arranged at the free end of the mechanical arm; the linear driving device is supported at a preset height and used for outputting linear motion in the horizontal direction, and the fixed end of the mechanical arm is suspended at the output part of the linear driving device. This moxibustion robot utilizes arm and linear drive device's combined motion, drives moxibustion device motion, under cooperation between them, make moxibustion device can move to human arbitrary acupuncture point department, compare in prior art and rely on the combined motion of each joint of arm to order about moxibustion device motion alone, the flexibility of arm motion has been improved, make things convenient for moxibustion device's quick location, simultaneously, can reduce the articulated length of arm relatively or reduce the articulated quantity of arm.

Description

Moxibustion robot

Technical Field

The invention relates to the technical field of moxibustion equipment, in particular to a moxibustion robot.

Background

With the development of artificial intelligence technology, moxibustion robots gradually replace specialized doctors to moxibustion acupuncture points, so that moxibustion techniques such as fixing, pecking, rotating and transporting are realized, and the physical strength of the specialized doctors is saved.

Moxibustion robot among the prior art includes the multijoint arm usually and locates the terminal moxibustion device of multijoint arm, before carrying out the moxa-moxibustion to the acupuncture point, through the motion of multijoint arm, makes moxibustion device move to the acupuncture point department that needs the moxa-moxibustion.

However, because the mechanical arm of the existing moxibustion robot is directly fixed on the robot body, the position of the fixed end of the mechanical arm is always kept unchanged, and in the working process, the moxibustion device is moved to a required moxibustion position by simply depending on the compound movement of each joint of the mechanical arm, so that the movement of the mechanical arm is limited, and the movement of the mechanical arm is not flexible enough.

In summary, how to improve the motion flexibility of the mechanical arm of the moxibustion robot is a problem to be solved urgently by those skilled in the art.

Disclosure of Invention

In view of this, an object of the present invention is to provide a moxibustion robot, wherein the mechanical arm of the robot is flexible to facilitate positioning of the moxibustion device.

In order to achieve the above purpose, the invention provides the following technical scheme:

a moxibustion robot comprising:

a moxibustion device for performing moxibustion on an acupoint requiring moxibustion;

the moxibustion device comprises a mechanical arm, a servo steering engine and a moxibustion device, wherein the mechanical arm is provided with the servo steering engine for driving the mechanical arm to move, and the moxibustion device is arranged at the free end of the mechanical arm;

the linear driving device is supported at a preset height and used for outputting linear motion in the horizontal direction, and the fixed end of the mechanical arm is hung at the output part of the linear driving device.

Preferably, the mechanical arm comprises at least one mechanical arm joint, and when the number of the mechanical arm joints is at least two, more than two mechanical arm joints are sequentially arranged in series.

Preferably, each of the robot arm joints has a degree of freedom of rotation about a rotation axis parallel to the linear movement direction.

Preferably, the fixed end of the mechanical arm is detachably suspended from the output part of the linear driving device.

Preferably, the linear driving device comprises a motor and a synchronous belt conveying assembly, and the fixed end of the mechanical arm is connected with a synchronous belt of the synchronous belt conveying assembly.

Preferably, the linear driving device comprises a horizontally arranged linear guide rail, and a fixed end of the mechanical arm is provided with a pulley capable of sliding along the linear guide rail.

Preferably, a mechanical arm base is fixedly arranged at the output part of the linear driving device, and the fixed end of the mechanical arm is hinged to the mechanical arm base.

Preferably, the supporting means for supporting the linear driving means includes:

a base;

the vertical bracket is vertically connected with the base;

and the cantilever beam is vertically connected with the vertical support, and a fixing part of the linear driving device is fixedly connected with the cantilever beam.

Preferably, the bottom of the base is provided with wheels for convenient turnover.

Preferably, the free end is connected with an anti-burn cover for covering the outer periphery of the moxibustion device.

Preferably, the free end is provided with a temperature sensor for sensing skin and environment temperature, and the temperature sensor is connected with a control device of the moxibustion robot so as to enable the control device to control the mechanical arm to lift when the temperature detected by the temperature sensor is higher than a preset temperature threshold; and/or the presence of a gas in the gas,

the free end is provided with a distance sensor for detecting the distance between the free end and the human body, and the distance sensor is connected with the control device of the moxibustion robot, so that the control device controls the free end and the human body to keep a preset distance according to a detection signal of the distance sensor.

According to the moxibustion robot provided by the invention, the fixed end of the mechanical arm is suspended on the output part of the linear driving device, so that the whole mechanical arm can be driven to do linear motion along the horizontal direction through the output part of the linear driving device, and the moxibustion device can be accurately positioned by combining the motion of each joint of the mechanical arm.

Therefore, the moxibustion device is driven to move by utilizing the combined motion of the mechanical arm and the linear driving device, so that the moxibustion device can move to any acupuncture point of a human body under the matching action of the mechanical arm and the linear driving device, namely, the movement range of the moxibustion device can cover each acupuncture point of the human body. Therefore, compare in prior art, improved the flexibility of arm motion, make things convenient for moxibustion device's quick location.

Meanwhile, compared with the method that the linear driving device only depends on the swinging of the mechanical arm, the linear driving device can output relatively large displacement in a single direction, and therefore compared with the prior art that the moxibustion device is driven to move to a required acupuncture point only depending on the compound motion of each joint of the mechanical arm, the moxibustion robot provided by the invention shares the motion of a part of the mechanical arm due to the existence of the linear driving device, so that the length of the joints of the mechanical arm can be relatively reduced or the number of the joints of the mechanical arm can be reduced, namely, the joints of the mechanical arm can be driven to move by using a steering engine with smaller torque or a smaller number of steering engines, and compared with the prior art, the manufacturing cost can be properly saved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural view of a moxibustion robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a moxibustion robot according to an embodiment of the present invention.

The reference numerals in fig. 1 and 2 are as follows:

1 is moxibustion device, 2 is the arm, 3 is linear drive device, 4 is the arm base, 51 is the base, 52 is vertical support, 53 is the cantilever crossbeam, 6 is for preventing scalding the cover, 7 is the moxa-moxibustion bed.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide a moxibustion robot, the movement of the mechanical arm of the moxibustion robot is flexible, and the moxibustion device is convenient to position.

Referring to fig. 1 and 2, fig. 1 is a schematic structural view of a moxibustion robot according to an embodiment of the present invention; fig. 2 is a schematic structural view of a moxibustion robot according to an embodiment of the present invention.

The invention provides a moxibustion robot which mainly comprises a moxibustion device 1, a mechanical arm 2 and a linear driving device 3.

Specifically, the moxibustion device 1 is used for moxibustion of an acupuncture point requiring moxibustion.

Moxibustion device 1 locates the free end of arm 2, and arm 2 is equipped with the servo steering wheel that is used for driving its motion to drive arm 2 through servo steering wheel motion, make arm 2 drive moxibustion device 1 motion.

The linear driving device 3 outputs a linear motion in a horizontal direction, is supported at a predetermined height, and the fixed end of the robot arm 2 is suspended from an output portion of the linear driving device 3.

It should be noted that the application scenario of the moxibustion robot is not limited in the present invention, and for example, the moxibustion robot can be applied to various situations such as standing, sitting, or lying on the stomach, and only needs to change the angle of the mechanical arm 2 to adjust the moxibustion device 1 to a proper position in accordance with the movement of the linear driving device 3.

In view of the comfort of the user during use, in order to enhance the user experience, the moxibustion robot is preferably adapted to the use in cooperation with the moxibustion bed 7, that is, as shown in fig. 2, when in use, the human body is lying on the moxibustion bed 7, and the linear driving device 3 is supported at a preset height so that the robot arm 2 has a suitable distance from the back of the human body. Meanwhile, preferably, after the human body is prone, the length direction of the human body is parallel to the linear motion direction of the linear driving device 3, so as to fully utilize the advantage that the linear driving device 3 outputs a large-range single-direction displacement.

It can be understood that, when the linear driving device 3 outputs linear motion, the mechanical arm 2 is driven to move linearly along the horizontal direction, so that the mechanical arm 2 drives the moxibustion device 1 to move linearly, and meanwhile, the moxibustion device 1 can move to the acupuncture point of the needed moxibustion by matching with the motion of the mechanical arm 2.

That is, in the moxibustion robot of the present invention, since the fixed end of the arm 2 is suspended from the output part of the linear driving unit 3, the entire arm 2 can be driven to move linearly in the horizontal direction by the output part of the linear driving unit 3, and the moxibustion device 1 can be accurately positioned by combining the movement of each joint of the arm 2.

Therefore, the moxibustion device 1 is driven to move by the combined motion of the mechanical arm 2 and the linear driving device 3, so that the moxibustion device 1 can move to any acupuncture point of the human body under the matching action of the mechanical arm 2 and the linear driving device 3, namely, the movement range of the moxibustion device 1 can cover each acupuncture point of the human body.

Therefore, compare in prior art, improved the flexibility of arm motion, make things convenient for moxibustion device's quick location.

Meanwhile, compared with the method of simply relying on the swinging of the mechanical arm 2, the linear driving device 3 can output relatively large displacement in a single direction, and therefore compared with the prior art that the moxibustion device 1 is driven to move to a required acupuncture point by simply relying on the compound motion of each joint of the mechanical arm, the moxibustion robot provided by the invention shares part of the motion of the mechanical arm 2 due to the existence of the linear driving device 3, so that the length of the joints of the mechanical arm 2 can be relatively reduced or the number of the joints of the mechanical arm 2 can be reduced, namely, the joints of the mechanical arm 2 can be driven to move by using a steering engine with smaller torque or a smaller number of steering engines, and compared with the prior art, the manufacturing cost can be properly saved.

It can be understood that the servo steering engines of the linear driving device 3 and the mechanical arm 2 are connected with the control device, so that the linear driving device 3 and the mechanical arm 2 are controlled by the control device to move the moxibustion device 1 to any acupuncture point of a human body finally, and the automation of the moxibustion robot is realized.

It should be noted that, the specific control method for the control device to respectively control the servo steering engines of the linear driving device 3 and the mechanical arm 2 is not limited in the present invention, and those skilled in the art can adopt corresponding technologies to control the servo steering engines of the linear driving device 3 and the mechanical arm 2 according to actual needs.

It should be noted that the specific structure of the moxibustion device 1 and the moxibustion application method thereof are not limited in the present invention, and those skilled in the art can refer to the prior art and will not be described herein again.

Further, the present invention does not specifically limit the number of joints of the robot arm 2, and the number of joints of the robot arm 2 may be one or more, that is, as a preferred solution, on the basis of the above embodiment, the robot arm 2 includes at least one robot arm joint, and when the number of robot arm joints is two or more, the two or more robot arm joints are sequentially arranged in series, and in view of convenience of description, the robot arm joint closest to the linear driving device 3 is defined as a robot arm rear joint, the robot arm joint farthest from the linear driving device 3 is defined as a robot arm front joint, and the robot arm rear joint is provided with a fixed end of the robot arm 2, which is suspended from the output portion of the linear driving device 3; the arm front joint is provided with the free end for setting the moxibustion device 1.

It should be noted that, in the present invention, two adjacent joints of the mechanical arm 2 may be foldable or telescopic, two foldable joints of the mechanical arm may be as shown in fig. 1, a front joint of the mechanical arm is hinged to a rear joint of the mechanical arm, the front joint of the mechanical arm can rotate relative to the rear joint of the mechanical arm, and the moxibustion device 1 can move to any acupuncture point of the human body in cooperation with the overall movement of the mechanical arm 2.

Two telescopic arm joints are cup jointed for sliding, for example, when the quantity of arm joint is two, the arm back joint is cavity, and the arm front joint can contract to the arm back joint, through the extension or the withdrawal of control arm front joint to the whole swing of cooperation arm 2, make moxibustion device 1 can move to arbitrary acupuncture point department of human body.

In order to simplify the movement of the robot arm 2, each robot arm joint has a degree of freedom of rotation about a rotation axis parallel to the direction of linear motion output from the linear driving device 3 on the basis of the above-described embodiment.

As shown in fig. 1, the number of joints of the robot arm 2 is two, and both the joints of the robot arm can swing around a rotating shaft parallel to the direction of the linear motion output by the linear driving device 3.

It can be understood that, assuming that the direction of the linear motion output by the linear driving device 3 is the X-axis direction of the spatial rectangular coordinate system, the linear driving device 3 can change the X-axis coordinate position of the moxibustion device 1; each joint of arm can rotate around the X axle, and then can change moxibustion device 1's Y axle coordinate position and Z axle coordinate position simultaneously, promptly, through the compound motion of sharp drive arrangement 3 and each joint of arm, can change moxibustion device 1's space coordinate position wantonly, and every arm joint of arm 2 all has only around the degree of freedom of X axle pivoted moreover, and the motion form is single, has simplified moxibustion robot's motion form.

It should be noted that the specific number of the robot arms 2 is not limited in the present invention, for example, the number of the robot arms 2 as a whole may be one, as shown in fig. 1, and at this time, compared with the conventional robot having two robot arms, the number of the robot arms is reduced, so that the cost can be saved to a certain extent.

The number of the robot arms 2 as a whole may be plural, for example, the number of the robot arms 2 is at least two, and the moxibustion device 1 and the robot arms 2 are provided in one-to-one correspondence.

It can be understood that when the quantity of mechanical arm 2 is a plurality of, a plurality of mechanical arms 2 can simultaneous working to carry out the moxa-moxibustion to a plurality of acupuncture points of same user simultaneously, perhaps, can carry out the acupuncture point moxa-moxibustion to different users simultaneously even, and then improved moxa-moxibustion efficiency.

Further preferably, the fixed end of the robot arm 2 is detachably suspended from the output portion of the linear driving device 3.

That is, an appropriate number of robot arms 2 may be suspended from the output portion of the linear drive device 3 as needed. For example, when carrying out the while moxa-moxibustion to many people, can hang a plurality of arms 2 at linear drive device 3's output, make a plurality of arms 2 concurrent operation, adopt a plurality of traditional moxibustion robot to carry out the moxa-moxibustion to many people simultaneously in comparison with prior art, obviously, same linear drive device 3 of a plurality of arms 2 sharing in this application, compare in the combination of a plurality of traditional moxibustion robot, practiced thrift cost and whole shared space.

In addition, the specific structure of the linear driving device 3 is not limited in the present invention, and as a preferable solution, on the basis of the above embodiment, the linear driving device 3 includes a motor and a timing belt conveying assembly, and the fixed end of the robot arm 2 is connected to the timing belt of the timing belt conveying assembly.

That is, this embodiment utilizes the hold-in range of hold-in range conveying assembly to drive 2 global displacements of arm through the rotation of motor.

In view of the stability of the overall movement of the robot arm 2, on the basis of the above-described embodiment, the linear driving device 3 includes a horizontally disposed linear guide, and the fixed end of the robot arm 2 is provided with a pulley that is slidable along the linear guide.

That is to say, when the hold-in range drove arm 2 global movement, the pulley removed along linear guide, and linear guide has the effect of direction, makes arm 2 global movement more steady.

In consideration of convenience of connection between the fixed end of the robot arm 2 and the output portion of the linear driving device 3, on the basis of the above-described embodiment, the robot arm base 4 is fixedly provided at the output portion of the linear driving device 3, and the fixed end of the robot arm 2 is hinged to the robot arm base 4.

That is, in this embodiment, the fixed end of the robot arm 2 is fixedly connected to the output portion of the linear driving device 3 through the robot arm base 4, and the robot arm base 4 functions as a transfer, so that the connection structure is more convenient to implement.

It should be noted that, the present invention uses the supporting device to support the linear driving device 3 at the preset height, and in view of the implementation of the specific structure of the supporting device, on the basis of the above embodiment, the supporting device for supporting the linear driving device 3 includes a base 51, a vertical bracket 52 vertically connected to the base 51, and a cantilever beam 53 vertically connected to the vertical bracket 52, and the fixing portion of the linear driving device 3 is fixedly connected to the cantilever beam 53.

It should be noted that, in the present embodiment, a specific position of the fixed connection between the linear driving device 3 and the cantilever beam 53 is not limited, for example, the cantilever beam 53 may be fixedly connected to a central point of a fixed portion of the linear driving device 3, so that the linear driving device 3 and the cantilever beam 53 form a T-shaped structure. Of course, the cantilever beam 53 may also be fixedly connected to one end of the fixing portion of the linear driving device 3, so that the linear driving device 3 and the cantilever beam 53 form an L-shaped structure. Further, in order to facilitate the change of the position of the moxibustion robot at any time, on the basis of the above-mentioned embodiment, the bottom of the base 51 is provided with wheels for easy turnover so as to easily shift the moxibustion robot.

In order to avoid scalding due to accidental contact with the moxibustion device 1 during moxibustion, an anti-scald cover 6 for covering the outer peripheral portion of the moxibustion device 1 is connected to the free end of the robot arm 2 based on the above-mentioned embodiment.

That is to say, this embodiment adopts to prevent scalding cover 6 and plays the guard action, avoids at the moxa-moxibustion in-process, causes the scald because of the outer peripheral part that touches moxibustion device 1 by mistake, security when having promoted moxibustion robot and using.

In addition, in order to avoid scalding the back of the user during moxibustion, on the basis of the above embodiment, the free end of the mechanical arm 2 is provided with a temperature sensor for sensing the temperature of the skin and the environment, and the temperature sensor is connected with the control device of the moxibustion robot, so that when the temperature detected by the temperature sensor is higher than a preset temperature threshold value, the control device controls the mechanical arm 2 to lift, the moxibustion device 1 keeps a proper distance with the human body, and the back of the user is prevented from being scalded.

Further, in order to improve safety, on the basis of the above embodiment, the free end of the robot arm 2 is provided with a distance sensor for detecting a distance between the moxibustion device 1 and the human body, and the distance sensor is connected to the control device so that the control device controls the moxibustion device 1 to maintain a predetermined distance from the human body according to a detection signal of the distance sensor.

The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The moxibustion robot provided by the present invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (11)

1. A moxibustion robot, characterized by comprising:

a moxibustion device (1), wherein the moxibustion device (1) is used for carrying out moxibustion on acupuncture points needing moxibustion;

the moxibustion device comprises a mechanical arm (2), wherein the mechanical arm (2) is provided with a servo steering engine for driving the mechanical arm to move, and the moxibustion device (1) is arranged at the free end of the mechanical arm (2);

the linear driving device (3) is supported at a preset height and used for outputting linear motion in the horizontal direction, and the fixed end of the mechanical arm (2) is hung at the output part of the linear driving device (3).

2. A moxibustion robot according to claim 1, wherein said robot arm (2) comprises at least one robot arm joint, and when there are at least two robot arm joints, more than two robot arm joints are arranged in series.

3. A moxibustion robot according to claim 2, wherein each of said mechanical arm joints has a degree of freedom of rotation about a rotation axis parallel to said linear movement direction.

4. A moxibustion robot according to claim 1, wherein the fixed end of the mechanical arm (2) is detachably suspended from the output part of the linear driving device (3).

5. A moxibustion robot according to claim 1, wherein the linear driving means (3) comprises a motor and a timing belt transfer unit, and the fixed end of the robot arm (2) is connected to a timing belt of the timing belt transfer unit.

6. A moxibustion robot according to claim 5, characterized in that the linear driving means (3) comprises a horizontally arranged linear guide, and the fixed end of the mechanical arm (2) is provided with a pulley capable of sliding along the linear guide.

7. Moxibustion robot according to any of claims 1-6, characterized in that the linear drive (3) has a robot arm base (4) fixed to its output, and the fixed end of the robot arm (2) is hinged to the robot arm base (4).

8. Moxibustion robot according to any of claims 1-6, characterized in that the support means for supporting the linear drive means (3) comprise:

a base (51);

a vertical bracket (52) vertically connected to the base (51);

and the cantilever beam (53) is vertically connected with the vertical support (52), and the fixed part of the linear driving device (3) is fixedly connected with the cantilever beam (53).

9. A moxibustion robot according to claim 8, wherein the bottom of the base (51) is provided with wheels for easy turnover.

10. A moxibustion robot according to any of claims 1-6, wherein an anti-burn cover (6) is attached to the free end for covering the outer periphery of the moxibustion device (1).

11. A moxibustion robot according to claim 10, characterized in that the free end is provided with a temperature sensor for sensing the temperature of the skin and the environment, which is connected with the control device of the moxibustion robot, so that the control device controls the mechanical arm (2) to lift when the temperature detected by the temperature sensor is higher than a preset temperature threshold; and/or the presence of a gas in the gas,

the free end is provided with a distance sensor for detecting the distance between the free end and the human body, and the distance sensor is connected with the control device of the moxibustion robot, so that the control device controls the free end and the human body to keep a preset distance according to a detection signal of the distance sensor.

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